Yes. There's shairport and many XBMC builds include servers to receive AirPlay audio and even video, but not AirPlay mirroring. (There are really three levels of AirPlay - audio, streaming video, and mirroring - essentially the whole device's display.)
There are even Android servers like AirBubble and Android HIFI that can receive audio but not video and clients like HoneyPlayer (audio) and iMediashare (audio and video).
There are even Android servers like AirBubble and Android HIFI that can receive audio but not video and clients like HoneyPlayer (audio) and iMediashare (audio and video).